Opencv .at 方法没有按预期工作？

Question

尝试执行一些简单的转换以使我的相机姿势处于更易于管理的坐标中，但我一直遇到一个问题：

    vector< Mat> newpoints; 

    Mat oldpoint =  Mat::zeros(4,1, CV_32F);

    oldpoint.at<float>(3,0) = 1.0;

    Mat translation = Mat::zeros(4, 4, CV_32F);
    Mat rotation = Mat::zeros(4, 4, CV_32F);
    Mat tmp_rot = Mat::zeros(3,3,CV_32F);
    Mat trans;
    Mat rota;

cout << "rearranging coords" << endl;

for(int i = 0; i < tvecs.size(); i++){
    trans = tvecs[i];
    rota = rvecs[i];

    translation.at<float>(0,0) = 1.0;
    translation.at<float>(1,1) = 1.0;
    translation.at<float>(2,2) = 1.0;
    translation.at<float>(3,3) = 1.0;

    translation.at<float>(0,3) = trans.at<float>(0);
    translation.at<float>(1,3) = trans.at<float>(1);
    translation.at<float>(2,3) = trans.at<float>(2);

    Rodrigues(rota, tmp_rot);

    rotation.at<float>(0,0) = tmp_rot.at<float>(0,0);
    rotation.at<float>(0,1) = tmp_rot.at<float>(0,1);
    rotation.at<float>(0,2) = tmp_rot.at<float>(0,2);
    rotation.at<float>(1,0) = tmp_rot.at<float>(1,0);
    rotation.at<float>(1,1) = tmp_rot.at<float>(1,1);
    rotation.at<float>(1,2) = tmp_rot.at<float>(1,2);
    rotation.at<float>(2,0) = tmp_rot.at<float>(2,0);
    rotation.at<float>(2,1) = tmp_rot.at<float>(2,1);
    rotation.at<float>(2,2) = tmp_rot.at<float>(2,2);
    rotation.at<float>(3,3) = 1.0;
}

当我在右侧使用 .at 时，for 中的值分配毫无意义。它们与原始矩阵中的值完全不同。

Answer 1

就像 Micha 指出的那样，存在类型不匹配。

修正者：

    tvecs[i].convertTo(trans, CV_32F);
    rvecs[i].convertTo(rota, CV_32F);
    //trans = tvecs[i];
    //rota = rvecs[i];